U.S. patent application number 14/401305 was filed with the patent office on 2015-05-28 for vehicular display apparatus, vehicular display method, and vehicular display program.
The applicant listed for this patent is NISSAN MOTOR CO., LTD.. Invention is credited to Norimasa Kishi, Yoshiro Takamatsu, Seigo Watanabe, Takura Yanagi.
Application Number | 20150145996 14/401305 |
Document ID | / |
Family ID | 49583395 |
Filed Date | 2015-05-28 |
United States Patent
Application |
20150145996 |
Kind Code |
A1 |
Watanabe; Seigo ; et
al. |
May 28, 2015 |
VEHICULAR DISPLAY APPARATUS, VEHICULAR DISPLAY METHOD, AND
VEHICULAR DISPLAY PROGRAM
Abstract
Captured images obtained beforehand by imaging ranges
corresponding to peripheries of a vehicle, or processed images
generated to correspond to the captured images are stored to be
associated with stored road information of a preset area. A
superimposed area having a clarity lower than a preset clarity
threshold is set in a captured image of a periphery of the vehicle.
A superimposition image is extracted among the stored images, the
superimposition image being an image of a range corresponding to
the captured image. A superimposed image is generated by
superimposing an image in an area in the extracted superimposition
image corresponding to the superimposed area on the captured mage.
A video generated from the superimposed image is displayed at a
position visible from a driver.
Inventors: |
Watanabe; Seigo;
(Yokohama-shi, JP) ; Kishi; Norimasa;
(Yokohama-shi, JP) ; Yanagi; Takura;
(Yokohama-shi, JP) ; Takamatsu; Yoshiro;
(Cupertino, CA) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
NISSAN MOTOR CO., LTD. |
Yokohama-shi, Kanagawa |
|
JP |
|
|
Family ID: |
49583395 |
Appl. No.: |
14/401305 |
Filed: |
April 5, 2013 |
PCT Filed: |
April 5, 2013 |
PCT NO: |
PCT/JP2013/002365 |
371 Date: |
November 14, 2014 |
Current U.S.
Class: |
348/148 |
Current CPC
Class: |
G06T 2207/10024
20130101; G06T 5/50 20130101; G06T 2207/30252 20130101; H04N 7/18
20130101; G06T 2207/20221 20130101; G06T 2207/10048 20130101; G08G
1/09626 20130101; G08G 1/166 20130101; B60R 2300/305 20130101; B60R
2300/8053 20130101; B60R 2300/308 20130101; G08G 1/167 20130101;
G06T 11/00 20130101; B60R 1/00 20130101 |
Class at
Publication: |
348/148 |
International
Class: |
B60R 1/00 20060101
B60R001/00 |
Foreign Application Data
Date |
Code |
Application Number |
May 18, 2012 |
JP |
2012-115048 |
Claims
1. A vehicular display apparatus comprising: a map data storage
unit in which road information of a preset area is stored; a
superimposition image information storage unit in which at least
ones of captured images obtained beforehand by imaging ranges
corresponding to peripheries of a vehicle or processed images
generated to correspond to the captured images are stored to be
associated with the road information stored in the map data storage
unit; a vehicle position detection unit configured to detect a
position of the vehicle; a vehicle travel direction detection unit
configured to detect a travel direction of the vehicle; a normal
image capture unit configured to capture an image of a periphery of
the vehicle; a superimposed area setting unit configured to set a
superimposed area having a clarity lower than a preset clarity
threshold in the image captured by the normal image capture unit; a
superimposition image extraction unit configured to extract a
superimposition image on a basis of the position of the vehicle
detected by the vehicle position detection unit, the travel
direction of the vehicle detected by the vehicle travel direction
detection unit, the road information stored in the map data storage
unit, among the images stored in the superimposition image
information storage unit, the superimposition image being an image
of a range corresponding to the image captured by the normal image
capture unit; an image superposition unit configured to generate a
superimposed image, by superimposing the image in an area
corresponding to the superimposed area set by the superimposed area
setting unit in the superimposition image extracted by the
superimposition image extraction unit, on the image captured by the
normal image capture unit; and an image display unit configured to
display a video generated from the superimposed image generated by
the image superposition unit at a position visible from a driver of
the vehicle.
2. The vehicular display apparatus according to claim 1, wherein
the superimposed area setting unit is configured to detect a low
gradation area where a gradation is lower than a preset gradation
threshold, in the image captured by the normal image capture unit,
and to set the detected low gradation area as the superimposed
area.
3. The vehicular display apparatus according to claim 2, wherein
the image superposition unit is configured to, when there is a
feature specific to a road in the superimposed area set by the
superimposed area setting unit, generate the superimposed image in
which there is only an image indicating the feature included in the
superimposition image extracted by the superimposition image
extraction unit, in an area where the feature lies in the image
captured by the normal image capture unit.
4. The vehicular display apparatus according to claim 2, wherein
the image superposition unit is configured to, when there is a road
structure in the superimposed area set by the superimposed area
setting unit, generate the superimposed image in which, in the area
where the road structure lies in the image captured by the normal
image capture unit, a superimposition degree of the superimposition
image extracted by the superimposition image extraction unit on the
image captured by the normal image capture unit is set to a degree
proportional to a contrast of the image captured by the normal
image capture unit.
5. The vehicular display apparatus according to claim 4, wherein
the image superposition unit is configured to generate the
superimposed image in which the superimposition degree of the
superimposition image extracted by the superimposition image
extraction unit on the image captured by the normal image capture
unit increases from a lower part to an upper part in a screen on
which the image display unit displays the video.
6. The vehicular display apparatus according to claim 4, wherein
the image superposition unit is configured to generate the
superimposed image in which the superimposition degree of the
superimposition image extracted by the superimposition image
extraction unit on the image captured by the normal image capture
unit increases from an area indicating a position closer to the
normal image capture unit to another area indicating another
position farther from the normal image capture unit in the
superimposed image.
7. The vehicular display apparatus according to claim 2, wherein
the image superposition unit is configured to, when there is
another vehicle which is expected to move into a course of the
vehicle in the image captured by the normal image capture unit,
generate the superimposed image in which a superimposition degree
of the superimposition image extracted by the superimposition image
extraction unit on the image captured by the normal image capture
unit in an area where the another vehicle lies in the image
captured by the normal image capture unit is less than another
superimposition degree in another area other than the area where
the another vehicle lies.
8. The vehicular display apparatus according to claim 1, further
comprising a covered area detection unit configured to detect a
covered area in the image captured by the normal image capture
unit, in the covered area, a road structure and a feature specific
to a road included in the road information stored in the map data
being covered with a cover, wherein, the superimposition image
extraction unit is configured to extract a covered object image
from the images stored in the superimposition image information
storage unit, the covered object image being an image of the road
structure and the feature specific to the road being covered with
the cover in the covered area detected by the covered area
detection unit, and the image superposition unit is configured to
generate the superimposed image by superimposing the covered object
image extracted by the superimposition image extraction unit and
subjected to transparent processing, on the image captured by the
normal image capture unit in the covered area detected by the
covered area detection unit.
9. The vehicular display apparatus according to claim 1, further
comprising: an infrared image capture unit configured to capture an
infrared image of the periphery of the vehicle; and a
superimposition image coloring process unit configured to refer to
an outline in the infrared image captured by the infrared image
capture unit and a color displayed in the image captured by the
normal image capture unit to color the superimposition image
extracted by the superimposition image extraction unit.
10. The vehicular display apparatus according to claim 1, further
comprising a superimposition image coloring process unit configured
to refer to a color displayed in the image captured by the normal
image capture unit to color the superimposition image extracted by
the superimposition image extraction unit.
11. The vehicular display apparatus according to claim 1, further
comprising a driver authentication unit configured to authenticate
the driver of the vehicle, wherein the road information is stored
in the map data storage unit to be individually associated with the
driver authenticated by the driver authentication unit.
12. A vehicular display apparatus comprising: a superimposition
image information storage unit in which road positions preset on a
road and images captured at the road positions, respectively,
beforehand are stored to be associated with each other; a vehicle
position detection unit configured to detect a position of a
vehicle; a vehicle travel direction detection unit configured to
detect a travel direction of the vehicle; a normal image capture
unit configured to capture a normal image, which is an image in the
travel direction of the vehicle detected by the vehicle travel
direction detection unit; an image superposition unit configured to
extract a superimposition area section from a superimposition image
being an image of a range corresponding to the normal image
captured by the normal image capture unit among the images stored
in the superimposition image information storage unit, the
superimposition area section corresponding to an unclear area in
the normal image captured by the normal image capture unit where a
clarity is lower than a preset clarity threshold, to generate a
superimposed image by superimposing the extracted superimposition
area section on the unclear area in the normal image; and an image
display unit configured to display the superimposed image generated
by the image superposition unit at a position visible from a driver
of the vehicle.
13. A vehicular display method comprising: storing at least ones of
captured images obtained beforehand by imaging ranges corresponding
to peripheries of a vehicle or processed images generated to
correspond to the captured images, to be associated with road
information; extracting a superimposition image being an image of a
range corresponding to a captured image of a periphery of the
vehicle among the stored images; setting a superimposed area having
a clarity lower than a preset clarity threshold in the captured
image of the periphery of the vehicle, and generating a
superimposed image by superimposing an image in the extracted
superimposition image corresponding the superimposed area on the
captured image of the periphery of the vehicle; and displaying a
video generated from the superimposed image at a position visible
from a driver of the vehicle.
14. A non-transitory computer readable medium storing a vehicular
display program for causing, a computer to execute a process, the
process comprising: a map data storing step for storing road
information of a preset area; a superimposition image information
storing step for storing at least ones of captured images obtained
beforehand by imaging ranges corresponding to peripheries of a
vehicle or processed images generated to correspond to the captured
images, to be associated with the road information stored in the
map data storing step; a superimposed area setting step for setting
a superimposed area having a clarity lower than a preset clarity
threshold in an image captured by a normal image capture unit
capturing an image of a periphery of the vehicle; a superimposition
image extracting step for extracting a superimposition image on a
basis of a position of the vehicle detected by a vehicle position
detection unit detecting the position of the vehicle, a travel
direction of the vehicle detected by a vehicle travel direction
detection unit detecting the travel direction of the vehicle, the
road information stored in the map data storing step, among the
images stored in the superimposition image information storing
step, the superimposition image being an image of a range
corresponding to the image captured by the normal image capture
unit; an image superposing step for generate a superimposed image,
by superimposing an image in an area corresponding to the
superimposed area set in the superimposed area setting step in the
superimposition image extracted in the superimposition image
extracting step, on the image captured by the normal image capture
unit; and an image displaying step for displaying a video generated
from the superimposed image generated in the image superposing step
at a position visible from a driver of the vehicle.
Description
TECHNICAL FIELD
[0001] The present invention relates to a vehicular display
apparatus, a vehicular display method, and a vehicular display
program, which process a captured image of a periphery of a vehicle
to provide an occupant of the vehicle with the image.
BACKGROUND ART
[0002] Patent Literature 1, for example, describes a technique of
processing a captured image of a periphery of a vehicle captured
with a camera mounted on the vehicle, to provide an occupant of the
vehicle with the image.
[0003] In the technique described in Patent Literature 1, the first
capture unit is arranged to capture a horizontally long image, and
the second capture unit is arranged to capture a vertically long
image. Then, a feature point existing on the road surface is
extracted from the image captured with the second capture unit, and
the tilt angle of the imaging axis relative to the travel direction
of a vehicle is changed depending on the vehicle speed to make the
tracking of the extracted feature point easy.
CITATION LIST
Patent Literature
[0004] PTL 1: JP 2007-300181 A
SUMMARY OF INVENTION
Technical Problem
[0005] However, the technique described in Patent Literature 1 does
not have a configuration processing the image of the periphery of
the vehicle depending on a condition where the captured image
includes an unclear area, for example, a weather condition such as
sunlight or the like, or a condition where the contrast of the
camera is unsuitable. Therefore, there may occur a problem of
difficulty to respond to the situation when there is the unclear
area in the captured image of the periphery of the vehicle in a
nighttime, a dense fog, or the like.
[0006] The present invention has been made in view of the above
problem, and has an object to provide a vehicular display
apparatus, a vehicular display method and a vehicular display
program capable of responding to the situation when there is the
unclear area in the captured image.
Solution to Problem
[0007] In order to solve the above-mentioned problem, according to
an aspect of the invention, at least ones of captured images
obtained by imaging ranges corresponding to peripheries of a
vehicle beforehand, or processed images generated to correspond to
the captured images are stored to be associated with stored road
information of a preset area. In addition, a superimposed area
having a clarity lower than a preset clarity threshold is set in a
captured image of a periphery of the vehicle. And a superimposition
image being an image of a range corresponding to the captured image
is extracted among the stored images. Furthermore, a superimposed
image is generated by superimposing an image in an area in the
extracted superimposition image corresponding to the superimposed
area on the captured mage. A video generated from the superimposed
image is displayed at a position visible from a driver of the
vehicle. It is noted that the superimposition image is extracted on
the basis of a detected position and a travel direction of the
vehicle and the stored road information.
Advantageous Effects of Invention
[0008] According to an aspect of the present invention, the
superimposed area having a clarity lower than the preset clarity
threshold is set in the captured image of the periphery of the
vehicle, and the superimposed image is generated by superimposing,
on the superimposed area set in this way, the image of the area
corresponding to the superimposed area. Then, the video generated
from the superimposed image is displayed at the position visible
from the driver of the vehicle.
[0009] Therefore, even in a situation when there is an unclear area
in the captured image of the periphery of the vehicle in a
nighttime, a dense fog, or the like, the video generated from the
superimposed image is displayed at the position visible from the
driver of the vehicle, the superimposed image indicating at least
one of the captured image and the processed image of the range
corresponding to the periphery of the vehicle. Accordingly, it is
possible to respond to the situation when there is an unclear area
in the captured image.
BRIEF DESCRIPTION OF DRAWINGS
[0010] FIG. 1 is a block diagram illustrating a schematic
configuration of a vehicular display apparatus according to the
first embodiment of the present invention;
[0011] FIG. 2 is a view illustrating an example of a state where a
superimposition degree is set on a screen on which an image display
unit displays a video;
[0012] FIG. 3 is a view illustrating an example of an image of a
periphery of a vehicle captured by the normal image capture unit;
and
[0013] FIG. 4 is a view illustrating an example of an image
subjected to a feature image exclusively display processing.
DESCRIPTION OF EMBODIMENTS
[0014] Hereinafter, embodiments of the invention will now be
described with reference to the drawings.
First Embodiment
[0015] Hereinafter, the first embodiment of the invention
(hereinafter, referred to as the present embodiment) will now be
described with reference to the drawings.
[0016] (Configuration)
[0017] FIG. 1 is a block diagram illustrating a schematic
configuration of a vehicular display apparatus 1 according to the
present embodiment.
[0018] As illustrated in FIG. 1, the vehicular display apparatus 1
includes an image capture block 2, a self position recognition
block 4, a driver authentication unit 6, a superimposition image
information storage unit 8, a superimposed area setting unit 10,
and a covered area detection unit 12. In addition, the vehicular
display apparatus 1 includes a superimposition image extraction
unit 14, a superimposition image coloring process unit 16, an image
superimposition unit 18, and an image display unit 20.
[0019] The image capture block 2 includes a normal image capture
unit 22, and an infrared image capture unit 24.
[0020] The normal image capture unit 22, for example, is capable of
capturing color images, and is configured of a CCD (Charge-Coupled
Device) camera attached in a vehicle interior of a vehicle (not
illustrated) on which the vehicular display apparatus 1 is mounted.
Additionally, the imaging direction of the normal image capture
unit 22 is directed to the periphery of the vehicle, thus the
normal image capture unit 22 captures an image of the periphery of
the vehicle (an image of the outside of the vehicle with respect to
the periphery centered at the vehicle).
[0021] In the present embodiment, the image captured by the normal
image capture unit 22 is the color image of the periphery of the
vehicle. That is, the normal image capture unit 22 captures the
color image of the periphery of the vehicle.
[0022] Furthermore, the normal image capture unit 22 captures the
image of the periphery of the vehicle to output an information
signal including the captured image (hereinafter, may be referred
to as "normal image signal") to the superimposed area setting unit
10, the covered area detection unit 12, and the image superposition
unit 18.
[0023] The infrared image capture unit 24 is configured of, for
example, an infrared (IR) camera, and is attached in the vehicle
interior of the vehicle, similarly to the normal image capture unit
22. Additionally, the imaging direction of the infrared image
capture unit 24 is directed to the periphery of the vehicle,
similarly to the normal image capture unit 22, thus the infrared
image capture unit 24 captures an infrared image of the periphery
of the vehicle.
[0024] Furthermore, the infrared image capture unit 24 captures the
infrared image of the periphery of the vehicle to output an
information signal including the captured image (hereinafter, may
be referred to as "infrared image signal") to the superimposed area
setting unit 10, the covered area detection unit 12, and the image
superposition unit 18.
[0025] The self position recognition block 4 includes a vehicle
position detection unit 26, and a vehicle travel direction
detection unit 28.
[0026] The vehicle position detection unit 26 is configured of, for
example, a GPS (Global Positioning System) receiver. It is noted
that the GPS receiver detects a coordinate indicating the position
of the vehicle (current position), for example, on the basis of the
radio waves transmitted by GPS satellites.
[0027] Additionally, the vehicle position detection unit 26 outputs
an information signal including the detected position of the
vehicle (hereinafter, may be referred to as "vehicle position
signal") to the superimposition image extraction unit 14.
[0028] The vehicle travel direction detection unit 28 is configured
of, for example, an electronic compass, and detects the travel
direction of the vehicle (for example, a direction to which the
front of the vehicle is directed with reference to the magnetic
north). It is noted that a gyro sensor may be simultaneously used
in the vehicle travel direction detection unit 28 to detect the
inclination of the vehicle with respect to the horizontal plane. In
this case, in addition to the travel direction of the vehicle, an
elevation angle or a depression angle of the vehicle with respect
to the horizontal plane is detected.
[0029] Additionally, the vehicle travel direction detection unit 28
outputs an information signal including the detected travel
direction of the vehicle (hereinafter, may be referred to as
"vehicle travel direction signal") to the superimposition image
extraction unit 14.
[0030] The driver authentication unit 6 is configured of, for
example, an IC (Integrated Circuit) reader capable of reading ID
information of a driver stored in an IC chip embedded in a driver's
license. In this case, the vehicle may have a configuration in
which the IC reader links with the ignition switch of an engine,
such that the engine can be started by reading the ID information
of the driver with the IC reader.
[0031] Then, the driver authentication unit 6 outputs an
information signal including the ID information of the driver read
by the IC reader (hereinafter, may be referred to as "driver's ID
signal") to the superimposition image information storage unit 8.
That is, the driver authentication unit 6 authenticates the driver
of the vehicle, and outputs information unique to the authenticated
driver to the superimposition image information storage unit 8.
[0032] It is noted that, the configuration of the driver
authentication unit 6 is not limited to a configuration including
the IC reader. That is, when the vehicle has a configuration in
which the seat position of the driver's seat can be changed to the
position specific to each driver, for example, the seat position
specific to the driver may be detected to identify the driver.
[0033] Additionally, when the vehicle has a configuration in which
an input terminal for receiving a password links with the ignition
switch, such that the engine can be started by inputting the
password unique to the driver with the input terminal, for example,
the driver may be identified by using the input password. In this
case, instead of the input terminal of the password, a sensor
capable of detecting the finger print of the driver may be
used.
[0034] The superimposition image information storage unit 8
includes a map data storage unit 30, a captured image database 32,
and a processed image database 34. Additionally, the
superimposition image information storage unit 8 receives the input
of the driver's ID signal output from the driver authentication
unit 6.
[0035] In the map data storage unit 30, road information of a
preset area is stored.
[0036] In the present embodiment, there is described as an example,
a case where the road information is stored in the map data storage
unit 30 to be individually associated with the driver authenticated
by the driver authentication unit 6. Specifically, this road
information is road information of the area where the driver
authenticated by the driver authentication unit 6 usually drives
the vehicle, in a case of Japan (JPN), for example, the road
information of a selected prefecture (area).
[0037] Captured images are accumulated in the captured image
database 32, the captured images being obtained beforehand by
imaging a range corresponding to the periphery of the vehicle. It
is noted that the captured images accumulated in the captured image
database 32 are normal images (color images) similar to the image
captured by the normal image capture unit 22. Additionally, the
captured images accumulated in the captured image database 32 may
be images captured by a camera mounted on the vehicle or images
captured while walking.
[0038] Additionally, the captured images accumulated in the
captured image database 32 may be updated by, for example,
accessing any server or the like, in order to reflect temporal
changes. Furthermore, when a configuration similar to the captured
image database 32 is mounted on another vehicle, the captured
images accumulated in the captured image database 32 may be updated
by transmitting and receiving data while traveling via the
inter-vehicle communication between the vehicle and the another
vehicle.
[0039] Additionally, the captured image accumulated in the captured
image database 32 is stored to be associated with the road
information stored in the map data storage unit.
[0040] Processed images are accumulated in the processed image
database 34, such that the processed images are generated so as to
correspond to the captured images accumulated in the captured image
database 32. In the present embodiment, there is described as an
example, a case where the processed images accumulated in the
processed image database 34 are three-dimensional (3D) images.
[0041] Additionally, the processed images accumulated in the
processed image database 34 may be updated by, for example,
accessing any server or the like, in order to reflect temporal
changes. Furthermore, when a configuration similar to the processed
image database 34 is mounted on the another vehicle, the processed
images accumulated in the processed image database 34 may be
updated by transmitting and receiving data while traveling via the
inter-vehicle communication between the vehicle and the another
vehicle.
[0042] Additionally, the processed image accumulated in the
processed image database 34 is stored to be associated with the
road information stored in the map data storage unit.
[0043] In such a configuration, the captured images and the
processed images are stored in the superimposition image
information storage unit 8 to be associated with the road
information stored in the map data storage unit 30.
[0044] The superimposed area setting unit 10 receives the input of
the normal image signal from the normal image capture unit 22 and
the input of the infrared image signal from the infrared image
capture unit 24.
[0045] Additionally, the superimposed area setting unit 10 refers
to the normal image signal to set a superimposed area having a
clarity lower than a preset clarity threshold in the image captured
by the normal image capture unit 22.
[0046] Then, the superimposed area setting unit 10 outputs an
information signal including the set superimposed area
(hereinafter, may be referred to as "superimposed area signal") to
the image superposition unit 18.
[0047] In the present embodiment, there is described as an example,
a case where the superimposed area setting unit 10 detects a low
gradation area where a gradation in the image captured by the
normal image capture unit 22 is lower than a preset gradation
threshold to set the detected low gradation area as the
superimposed area.
[0048] In the present embodiment, the gradation threshold is set to
a value with which the low gradation area is detected as an area
where the gradation is lost to include blocked up shadows and an
area where the gradation is lost to include blown out highlights,
in the image captured by the normal image capture unit 22.
Therefore, in the present embodiment, the clarity threshold is set
such that areas in the image captured by the normal image capture
unit 22 having a clarity lower than the clarity threshold include
blocked up shadows and blown out highlights.
[0049] The covered area detection unit 12 receives the input of the
normal image signal from the normal image capture unit 22, and
receives the input of the infrared image signal from the infrared
image capture unit 24.
[0050] Additionally, the covered area detection unit 12 refers to
the normal image signal to detect a covered area in the image
captured by the normal image capture unit 22, in the covered area,
a road structure included in the road information stored in the map
data storage unit 30 and a feature specific to a road included in
the road information being covered with a cover.
[0051] Then, the covered area detection unit 12 outputs an
information signal including the detected covered area
(hereinafter, may be referred to as "covered area signal") to the
superimposition image extraction unit 14.
[0052] Here, the road structure included in the road information
is, for example, a curvature of the road (a curvature of a curved
road), a boundary between a roadway and a sidewalk, an
intersection, a road fork, a junction, a bank of a road surface, an
irregularity of a road surface, or the like.
[0053] Additionally, the feature specific to the road included the
road information is, for example, a traffic lane line, a traffic
light, a road sign, a road surface marking, a lane marker (a road
surface marker), or the like.
[0054] Additionally, the cover is, for example, another car
traveling ahead of the vehicle (a preceding vehicle), a wall or a
shrubbery formed near a road, a tree branch extending over the road
from the side of the road, or the like. In addition, the cover may
include, for example, an element relevant to a weather condition
such as a fog (a dense fog), rain, snow, or the like.
[0055] The superimposition image extraction unit 14 receives the
input of the vehicle position signal from the self position
recognition block 4, and receives the input of the vehicle travel
direction signal from the covered area detection unit 12. In
addition, the superimposition image extraction unit 14 obtains the
road information stored in the map data storage unit 30, depending
on the processing to be performed.
[0056] Additionally, the superimposition image extraction unit 14
extracts a superimposition image on the basis of the position of
the vehicle, the travel direction of the vehicle, the road
information stored in the map data storage unit 30.
[0057] Here, the superimposition image is an image of a range
corresponding to the image captured by the normal image capture
unit 22 among the images stored in the superimposition image
information storage unit 8.
[0058] Then, the superimposition image extraction unit 14 outputs
an information signal including the extracted superimposition image
(hereinafter, may be referred to as "superimposition image signal")
to the superimposition image coloring process unit 16.
[0059] Furthermore, the superimposition image extraction unit 14
receives the input of the covered area information to extract a
covered object image from the images stored in the superimposition
image information storage unit 8.
[0060] Here, the covered object image is an image of the road
structure and the feature specific to the road being covered with
the cover in the covered area detected by the covered area
detection unit 12.
[0061] Then, the superimposition image extraction unit 14 outputs
an information signal including the extracted covered object image
(hereinafter, may be referred to as "covered object image signal")
to the superimposition image coloring process unit 16.
[0062] It is noted that the superimposition image extraction unit
14 may have a configuration, for example, which detects the
position of the shift lever (selector) of the vehicle to switch the
superimposition image to be extracted depending on the detected
position. In this case, when the selected position is the forward
movement ("D" range in a case of an AT (Automatic Transmission)
vehicle), the captured image corresponding to a situation in which
an area ahead of the vehicle is viewed from the vehicle interior is
detected as the superimposition image. Additionally, when the
selected position is the rearward movement ("R" range in a case of
the AT vehicle), the captured image corresponding to a situation in
which an area behind the vehicle is viewed from the vehicle
interior.
[0063] The superimposition image coloring process unit 16 receives
the inputs of the information signals output from the normal image
capture unit 22, the infrared image capture unit 24, and the
superimposition image extraction unit 14. In addition, the
superimposition image coloring process unit 16 obtains the road
information stored in the map data storage unit 30, depending on
the processing to be performed.
[0064] Additionally, the superimposition image coloring process
unit 16 refers to an outline in the infrared image captured by the
infrared image capture unit 24 and a color displayed in the image
captured by the normal image capture unit 22 to color the
superimposition image extracted by the superimposition image
extraction unit 14. Such a processing generates an image by
coloring plural areas in a processed image with the colors
displayed on the image captured by the normal image capture unit
22, the processed image being formed by using the outlines in the
infrared image to have the plural areas surrounded by the
outlines.
[0065] It is noted that the color referred to for coloring the
image formed of the outlines in the infrared image may be obtain by
referring to a color displayed in the image captured by the normal
image capture unit 22 in real time. Additionally, the color
referred to for coloring the image formed of the outlines in the
infrared image may be obtained by referring to a color displayed in
the captured images accumulated in the captured image database 32.
Furthermore, the color displayed in the image captured in real time
and the color displayed in the captured images may be
simultaneously referred to.
[0066] Then, the superimposition image coloring process unit 16
outputs an information signal including the colored superimposition
image (hereinafter, may be referred to as "colored superimposition
image signal") to the image superposition unit 18.
[0067] The image superposition unit 18 receives the inputs of the
information signals output from the normal image capture unit 22,
the infrared image capture unit 24, the superimposed area setting
unit 10, the covered area detection unit 12, and the
superimposition image coloring process unit 16.
[0068] Additionally, the image superposition unit 18 generates a
superimposed image. The image superposition unit 18 outputs an
information signal including the superimposed image (hereinafter,
may be referred to as "superimposed image signal") generated in
such a way, to the image display unit 20.
[0069] Here, the superimposed image is an image obtained by
superimposing an image in an area in the superimposition image
extracted by the superimposition image extraction unit 14, the area
corresponding to the superimposed area set by the superimposed area
setting unit 10, on the image captured by the normal image capture
unit 22.
[0070] Additionally, when there is the feature specific to the road
(see above) in the superimposed area set by the superimposed area
setting unit 10, the image superposition unit 18 performs the
following processing.
[0071] In this case, the image superposition unit 18 performs a
processing (hereinafter, may be referred to as "feature image
exclusively display processing") for generating the superimposed
image in which there is only an image indicating the feature
included in the superimposition image extracted by the
superimposition image extraction unit 14, in an area where the
feature lies in the image captured by the normal image capture unit
22.
[0072] Additionally, when there is the road structure (see above)
in the superimposed area set by the superimposed area setting unit
10, the image superposition unit 18 performs the following
processing in the area where the road structure lies in the image
captured by the normal image capture unit 22.
[0073] In this case, the image superposition unit 18 performs a
processing (hereinafter, may be referred to as "contrast adjusting
display processing") for adjusting a superimposition degree of the
superimposition image extracted by the superimposition image
extraction unit 14 on the image captured by the normal image
capture unit 22. Specifically, the image superposition unit 18
performs a processing for generating the superimposed image by
adjusting the superimposition degree of the superimposition image
extracted by the superimposition image extraction unit 14 to a
degree proportional to the contrast of the image captured by the
normal image capture unit 22.
[0074] In the present embodiment, there is described as an example,
a case where the contrast adjusting display processing is performed
such that the superimposition degree on the image captured by the
normal image capture unit 22 increases from the lower part to the
upper part in the screen on which the image display unit 20
displays a video.
[0075] In such a processing, as illustrated in FIG. 2, for example,
the superimposition degree at the lowermost end of the superimposed
image SP is set 0(%), and the superimposition degree at the
uppermost end of the superimposed image SP is set 100(%) in the
screen on which the image display unit 20 displays the video.
Additionally, the superimposition degree in the area between the
lowermost end and the uppermost end of the superimposed image SP is
set to increase in a step-by-step manner. It is noted that FIG. 2
is a view illustrating an example of a state where the
superimposition degree is set on a screen on which the image
display unit 20 displays a video.
[0076] It is noted that, in the contrast adjusting display
processing, the superimposition degree of the superimposition image
may be varied between a case when an irradiation angle of the
headlight of the vehicle is normal (low beam) and a case when the
illumination angle is higher (high beam).
[0077] Additionally, in the contrast adjusting display processing,
the image superposition unit 18 generates the superimposed image in
which the superimposition degree of the superimposition image
increases from an area indicating a position closer to the normal
image capture unit 22 to another area indicating another position
farther from the normal image capture unit 22 in the superimposed
image SP. Such a configuration varies the superimposition degree of
the superimposition image in the superimposed image SP depending on
a distance from the vehicle to generate the superimposed image SP
in which the superimposition degree of the superimposition image is
higher as farther from the vehicle.
[0078] Additionally, when there is another vehicle which is
expected to move into the course of the vehicle in the image
captured by the normal image capture unit 22, the image
superposition unit 18 performs the following processing in the area
where the another vehicle lies in the image captured by the normal
image capture unit 22.
[0079] In this case, the image superposition unit 18 performs a
processing (hereinafter, may be referred to as "anther vehicle area
processing") for generating the superimposed image in which the
superimposition degree on the image captured by the normal image
capture unit 22 is less than the superimposition degree in an area
other than the area the another vehicle lies.
[0080] Here, the another vehicle which is expected to move into the
course of the vehicle in the image captured by the normal image
capture unit 22 is, for example, the preceding vehicle traveling on
the same travel lane as that of the vehicle, or an oncoming vehicle
turning right. Furthermore, the another vehicle is, for example, a
crossing vehicle traveling on a road crossing the travel lane of
the vehicle, or a vehicle which travels on a road (side lane)
merging into the travel lane of the vehicle (main lane) and intends
to pull into traffic ahead of the vehicle (intends to cut in front
of the vehicle).
[0081] Additionally, the image superposition unit 18 refers to the
covered area signal received from the covered area detection unit
12. When the covered area is detected, the image superposition unit
18 performs the following processing.
[0082] In this case, the image superposition unit 18 performs a
processing (hereinafter, may be referred to as "covered area
processing") for generating the superimposed image by superimposing
the covered object image extracted by the superimposition image
extraction unit 14 and subjected to transparent processing, on the
image captured by the normal image capture unit 22 in the
above-mentioned covered area. In the covered area processing, for
example, when the feature included in the covered area is a traffic
light and the lighting state of the traffic light is available by
means of a road-vehicle communication, the current lighting state
(the state of the currently lighting color) may be reflected onto
the image of the traffic light subjected to the transparent
processing.
[0083] The image display unit 20 forms a video from the
superimposed image generated by the image superposition unit 18, on
the basis of the superimposed image signal received from the image
superposition unit 18, and displays the video at a position visible
from the driver of the vehicle.
[0084] In the present embodiment, the image display unit 20 has,
for example, a configuration which displays the video generated
from the superimposed image at a position visible from the driver
in the vehicle interior of the vehicle. Accordingly, in the present
invention, the image display unit 20 has a configuration capable of
projecting the video generated from the superimposed image on the
front window of the vehicle.
[0085] It is noted that the configuration of the image display unit
20 is not limited to the configuration capable of projecting the
video generated from the superimposed image on the front window of
the vehicle. That is, for example, a configuration displaying the
video generated from the superimposed image on a Head-Up Display
(HUD) or a display device of a navigation device may be
employed.
[0086] Additionally, the configuration of the image display unit 20
is not limited to a configuration mounted on the vehicle. That is,
for example, a configuration displaying the video generated from
the superimposed image on a Head Mounted Display (HMD) worn by the
driver of the vehicle.
[0087] Additionally, in displaying the video generated from the
superimposed image generated by the image superposition unit 18,
the image display unit 20 may perform, for example, a processing
for correcting and reducing the degree of the distortion of the
video generated from the superimposed image depending on the degree
of the curve of the front window.
[0088] (Operation)
[0089] Next, an example of the operation performed by using the
vehicular display apparatus 1 according to the present embodiment
will be described with reference to FIG. 1 and FIG. 2, by using
FIG. 3 and FIG. 4.
[0090] When the vehicle travels, first, the driver authentication
unit 6 obtains the ID information of the driver driving the vehicle
and outputs the driver's ID signal to the superimposition image
information storage unit 8.
[0091] Then, while the vehicle travels, the normal image capture
unit 22 captures the image of the periphery of the vehicle, and
outputs the normal image signal to the superimposed area setting
unit 10, the covered area detection unit 12, and the image
superposition unit 18. Additionally, the infrared image capture
unit 24 captures the infrared image of the periphery of the
vehicle, and outputs the infrared image signal to the superimposed
area setting unit 10, the covered area detection unit 12, and the
image superposition unit 18.
[0092] In addition, while the vehicle travels, the vehicle position
detection unit 26 detects the position of the vehicle, and outputs
the vehicle position signal to the superimposition image extraction
unit 14. Additionally, the vehicle travel direction detection unit
28 detects the travel direction of the vehicle, and outputs the
vehicle travel direction signal to the superimposition image
extraction unit 14.
[0093] Then, the superimposition image extraction unit 14 obtains
the image data depending on the position and the travel direction
of the vehicle from the superimposition image information storage
unit 8, on the basis of the vehicle position signal and the vehicle
travel direction signal.
[0094] Additionally, the superimposed area setting unit 10 sets the
superimposed area SE in the image, for example, as illustrated in
FIG. 3, which the normal image capture unit 22 captures by imaging
the periphery of the vehicle (hereinafter, may be referred to as
"real captured image RP"), on the basis of the normal image signal.
It is noted that FIG. 3 is a view illustrating an example of an
image of the periphery (forward area) of the vehicle captured by
the normal image capture unit 22.
[0095] When the superimposed area setting unit 10 sets the
superimposed area SE, the superimposition image extraction unit 14
extracts the superimposition image, and the image superposition
unit 18 generates the superimposed image. Then, the image display
unit 20 displays the video generated from the superimposed image
generated by the image superposition unit 18 at the position
visible from the driver, thus the video becomes visible from the
driver.
[0096] In the present embodiment, when there is the feature
specific to the road in the superimposed area set by the
superimposed area setting unit 10, the image superposition unit 18
performs the above-mentioned feature image exclusively display
processing.
[0097] That is, when there is a traffic lane line as a feature
specific to the road in the superimposed area SE in a range
surrounded by the circle C in FIG. 3, the image superposition unit
18 performs the feature image exclusively display processing such
that there is only an image indicating the traffic lane line in the
area where the traffic lane line lies in the image captured by the
normal image capture unit 22.
[0098] Accordingly, as illustrated in FIG. 4, the traffic lane line
is displayed on the image subjected to the feature image
exclusively display processing by the image indicative the traffic
lane line, while the traffic lane line is not displayed before the
feature image exclusively display processing. It is noted that FIG.
4 is a view illustrating an example of an image subjected to the
feature image exclusively display processing. Additionally, in FIG.
4, the image indicative the traffic lane line is indicated with the
reference symbol "BL".
[0099] Accordingly, in the present invention, the driver of the
vehicle can visually recognize the traffic lane line, which is not
displayed in the actually captured image. Thus, the driver can
visually recognize the traffic lane line, even in a situation when
there is an unclear area in the captured image.
[0100] Additionally, by displaying the video generated from the
superimposed image generated by the image superposition unit 18 at
the position visible from the driver of the vehicle, it is possible
to reduce a moving amount of the directions of driver's eyes, and
to make the superimposed image visible.
[0101] Additionally, in the conventional technique, for example,
when the vehicle enters into a tunnel in the night traveling and
the driver gazes at the bright inside of the tunnel which is in the
travel course of the vehicle, it may be difficult for the driver to
visually recognize an obstacle at the outside of the tunnel darker
than the inside of the tunnel.
[0102] In contrast, in the present embodiment, at a state where the
vehicle moved from the inside of the tunnel to the outside of the
tunnel, the area including blocked up shadows or blown out
highlights in the image captured by the normal image capture unit
22 can be complemented with the superimposition image to be
visually recognized. Accordingly, it is possible to spuriously
improve the dynamic range with which the normal image capture unit
22 captures images.
[0103] As described above, in a vehicular driving support method
performed in the operation of the vehicular display apparatus 1
according to the present embodiment, the captured images and the
processed images are stored to be associated with the road
information, and the superimposition image which is the image of
the range corresponding to the captured image of the periphery of
the vehicle is extracted among these stored images. Then, the
superimposed image is generated by superimposing the image in the
extracted superimposition image, of the area corresponding to the
superimposed area set in the captured image of the periphery of the
vehicle as the area having a clarity lower than the preset clarity
threshold, on the captured image of the periphery of the vehicle.
Furthermore, the video generated from the superimposed image
generated in this way is displayed at the position visible from the
driver.
[0104] As described above, in the present embodiment, a vehicular
display program causing a computer to execute each of the following
steps is performed. Here, the steps executed by the computer
includes: a map data storing step for storing the road information
of the preset area; and a superimposition image information storing
step for storing the captured images and the processed images to be
associated with the road information stored in the map data storing
step. Furthermore, the steps executed by the computer includes: a
superimposed area setting step for setting the superimposed area in
the image of the periphery of the vehicle captured by the normal
image capture unit; and a superimposition image extracting step for
extracting the superimposition image on the basis of the position
and the travel direction of the vehicle and the road information
stored in the map data storing step. In addition, the steps
executed by the computer includes: an image superimposing step for
generating the superimposed image with respect to the image
captured by the normal image capture unit; and an image displaying
step for displaying the video generated from the superimposed image
generated in the image superimposing step at the position visible
from the driver.
[0105] (Advantageous Effects of the First Embodiment)
[0106] The vehicular display apparatus 1 according to the present
embodiment exhibits the following effects.
[0107] (1) The captured images and the processed images are stored
in the superimposition image information storage unit 8 to be
associated with the road information stored in the map data storage
unit 30, and the superimposed area setting unit 10 sets the
superimposed area in the captured image of the periphery of the
vehicle. In addition, the superimposition image extraction unit 14
extracts the superimposition image. Furthermore, the image
superposition unit 18 generates the superimposed image by
superimposing the image in the superimposition image extracted by
the superimposition image extraction unit 14, of the area
corresponding to the superimposed area, on the image captured by
the normal image capture unit 22, and then the video generated from
the superimposed image is displayed at the position visible from
the driver.
[0108] Therefore, even in a situation when there is an unclear area
in the captured image of the periphery of the vehicle, in a
nighttime, a dense fog, or the like, the video generated from the
superimposed image is displayed at the position visible from the
driver, the superimposed image indicating at least one of the
captured image and the processed image of the range corresponding
to the periphery of the vehicle.
[0109] Accordingly, it is possible to respond to the situation when
there is an unclear area in the captured image, even in a situation
such as a nighttime, a dense fog, or the like, the driver of the
vehicle can easily understand the shape of the traveling road or
the like of the vehicle.
[0110] Additionally, for example, even in a situation where the
whole image captured by the normal image capture unit 22 is
unclear, such as a case where the headlight of the vehicle fails in
the night traveling, the driver of the vehicle can easily
understand the shape of the traveling road or the like of the
vehicle.
[0111] (2) The superimposed area setting unit 10 detects a low
gradation area where a gradation is lower than a preset gradation
threshold, in the image captured by the normal image capture unit
22, to set the detected low gradation area as the superimposed
area.
[0112] Accordingly, it is possible to correct the deflection of the
brightness of the illuminance, such as blocked up shadows, blown
out highlights, or the like, which occurs in the night traveling
due to the headlight of the vehicle, thus the driver of the vehicle
can easily understand the shape of the traveling road or the like
of the vehicle.
[0113] (3) When there is the feature specific to the road in the
superimposed area, the image superposition unit 18 generates the
superimposed image in which there is only an image indicating the
feature included in the superimposition image extracted by the
superimposition image extraction unit 14, in an area where the
feature lies in the image captured by the normal image capture unit
22.
[0114] Accordingly, the driver of the vehicle can visually
recognize the feature which is not displayed in the actually
captured image, thus, the driver can visually recognize the
feature, such as the traffic lane line or the like, even in a
situation when there is an unclear area in the captured image.
[0115] (4) When there is the road structure in the superimposed
area, the image superposition unit 18 set the superimposition
degree of the superimposition image in the area in the image
captured by the normal image capture unit 22 where the road
structure lies to a degree proportional to the contrast of the
image captured by the normal image capture unit 22.
[0116] Accordingly, it is possible to generate the superimposed
image in which the state of the road structure lying in the
superimposed area is approximated to the real state. Thus, it is
possible to generate the superimposed image approximated to the
real image.
[0117] (5) The image superposition unit 18 generates the
superimposed image in which the superimposition degree of the
superimposition image on the image captured by the normal image
capture unit 22 increases from the lower part to the upper part in
the screen on which the image display unit 20 displays a video.
[0118] Accordingly, it is possible to reflect an irradiation
characteristic of the headlight on the superimposition degree of
the superimposition image, the irradiation characteristic
illuminating a lower area than the horizontal plane in the
direction of forward movement of the vehicle. Thus, it is possible
to generate the superimposed image approximated to the real
image.
[0119] (6) The image superposition unit 18 generates the
superimposed image in which the superimposition degree of the
superimposition image on the image captured by the normal image
capture unit 22 increases from the area indicating a position
closer to the normal image capture unit 22 to the another area
indicating another position farther from the normal image capture
unit 22 in the superimposed image SP.
[0120] Accordingly, the superimposition degree of the
superimposition image is increased with respect to the position far
from the vehicle where the light irradiated from the headlights
attenuates. Thus, the driver of the vehicle can easily understand
the shape of the traveling road or the like of the vehicle.
[0121] (7) When there is another vehicle which is expected to move
into the course of the vehicle in the image captured by the normal
image capture unit 22, the image superposition unit 18 generates
the superimposed image in which the superimposition degree of the
superimposition image is less than the superimposition degree in
the area other than the area the another vehicle lies. This process
is performed in the area in the image captured by the normal image
capture unit 22, where the another vehicle lies.
[0122] Accordingly, it is possible to generate the superimposed
image indicating an actual state of the another vehicle which may
come into contact with the vehicle in traveling.
[0123] (8) The covered area detection unit 12 detects a covered
area in the image captured by the normal image capture unit 22, in
the covered area, the road structure and the feature included the
road information stored in the map data storage unit being covered
with the cover. In addition, the superimposition image extraction
unit 14 extracts a covered object image from the images stored in
the superimposition image information storage unit 8. The image
superposition unit 18 generates the superimposed image by
superimposing the covered object image subjected to transparent
processing on the image captured by the normal image capture unit
22 in the covered area.
[0124] Accordingly, it is possible to allow the driver of the
vehicle to visually recognize the image in which the road structure
or the feature invisible due to the cover being subjected to
transparent processing and superimposed on the cover.
[0125] (9) The superimposition image coloring process unit 16
refers to an outline in the infrared image captured by the infrared
image capture unit 24 and a color displayed in the image captured
by the normal image capture unit 22 to color the superimposition
image extracted by the superimposition image extraction unit
14.
[0126] Accordingly, it is possible to color the image having clear
outlines based on the infrared image in which the outlines can be
more clearly detected compared to the image captured by the normal
image capture unit 22, with reference to the color displayed in the
image captured by the normal image capture unit 22. Therefore, it
is possible to generate the superimposed image well-reproduced.
[0127] (10) The road information of the preset area is stored in
the map data storage unit 30 to be individually associated with the
driver authenticated by the driver authentication unit 6, which
authenticates the driver of the vehicle.
[0128] Accordingly, it is possible to store the road information in
the map data storage unit 30 individually for each driver, thus, at
least ones of the captured images and the processed images can be
set individually depending on the driver.
[0129] (11) In the vehicular display method according the present
embodiment, the superimposition image which is the image of the
range corresponding to the captured image of the periphery of the
vehicle is extracted among the stored images. Furthermore, the
superimposed image is generated by superimposing the image in the
extracted superimposition image, of the area corresponding to the
superimposed area set in the captured image of the periphery of the
vehicle as the area having a clarity lower than the preset clarity
threshold, on the captured image of the periphery of the vehicle.
In addition, the video generated from the superimposed image
generated in this way is displayed at the position visible from the
driver of the vehicle.
[0130] Therefore, even in a situation when there is an unclear area
in the captured image of the periphery of the vehicle, such as a
nighttime, a dense fog, or the like, the video generated from the
superimposed image is displayed at the position visible from the
driver, the superimposed image indicating at least one of the
captured image and the processed image of the range corresponding
to the periphery of the vehicle.
[0131] Accordingly, it is possible to respond to the situation when
there is an unclear area in the captured image, even in a situation
such as a nighttime, a dense fog, or the like, the driver of the
vehicle can easily understand the shape of the traveling road or
the like of the vehicle.
[0132] (12) In the vehicular display program according the present
embodiment, in the superimposed area setting step, the superimposed
area is set in the image captured by the normal image capture unit.
Furthermore, in the superimposition image extracting step, the
superimposition image which is the image of the range corresponding
to the image captured by the normal image capture unit is extracted
among the images stored in the superimposition image information
storing step. In addition, in the image superimposing step, the
superimposed image is generated by superimposing the image in the
superimposition image extracted in the superimposition image
extracting step, of the area corresponding to the superimposed area
set in the superimposed area setting step, on the image captured by
the normal image capture unit. In the image displaying step, the
video generated from the superimposed image generated in the image
superimposing step is displayed at the position visible from the
driver.
[0133] Therefore, even in a situation when there is an unclear area
in the captured image of the periphery of the vehicle, such as a
nighttime, a dense fog, or the like, the video generated from the
superimposed image is displayed at the position visible from the
driver, the superimposed image indicating at least one of the
captured image and the processed image of the range corresponding
to the periphery of the vehicle.
[0134] Accordingly, it is possible to respond to the situation when
there is an unclear area in the captured image, even in a situation
such as a nighttime, a dense fog, or the like, the driver of the
vehicle can easily understand the shape of the traveling road or
the like of the vehicle.
[0135] (Modifications)
[0136] (1) In the present embodiment, the superimposition image
coloring process unit 16 has the configuration which refers to an
outline in the infrared image and a color displayed in the image
captured by the normal image capture unit 22 to color the
superimposition image extracted by the superimposition image
extraction unit 14, however, the superimposition image coloring
process unit 16 is not limited thereto.
[0137] That is, the superimposition image coloring process unit 16
may have a configuration which refers to a color displayed in the
image captured by the normal image capture unit 22 to color the
superimposition image extracted by the superimposition image
extraction unit 14.
[0138] In this case, the superimposition image coloring process
unit 16 may have a configuration without the infrared image capture
unit 24 to reduce cost. Additionally, it is possible to reduce the
processing step performed by the superimposition image coloring
process unit 16.
[0139] (2) In the present embodiment, the vehicular display
apparatus 1 has a configuration including the driver authentication
unit 6, however, the vehicular display apparatus 1 is not limited
thereto. The vehicular display apparatus 1 may have a configuration
without the driver authentication unit 6.
[0140] (3) In the present embodiment, the superimposed image is
generated by superimposing the image of the area corresponding to
the superimposed area on the image captured by the normal image
capture unit 22, that is, the color captured image of the periphery
of the vehicle. However, the superimposed image is not limited
thereto. That is, for example, the superimposed image may be
generated by superimposing the image of the area corresponding to
the superimposed area on the infrared image of the periphery of the
vehicle captured by the infrared image capture unit 24.
[0141] (4) In the present embodiment, the image superposition unit
18 has a configuration which generates the superimposed image by
superimposing the image in the superimposition image extracted by
the superimposition image extraction unit 14, of the area
corresponding to the superimposed area, on the image captured by
the normal image capture unit 22. However, the configuration of the
image superposition unit 18 is not limited thereto.
[0142] That is, the image superposition unit 18 may have a
configuration which extracts a superimposition area section from
the superimposition image being the image of a range corresponding
to the normal image captured by the normal image capture unit 22
among the images stored in the superimposition image information
storage unit 8. In addition, the image superposition unit 18 may
have a configuration which generates the superimposed image by
superimposing the superimposition area section extracted from the
superimposition image on an unclear area in the normal image.
[0143] Here, the superimposition area section is an area
corresponding to the unclear area in the normal image captured by
the normal image capture unit 22 where the clarity is lower than
the preset clarity threshold.
[0144] Additionally, when the image superposition unit 18 has the
above-mentioned configuration, the superimposition image
information storage unit 8 may have a configuration in which road
positions preset on the road and the images captured at the road
positions are respectively stored beforehand in the superimposition
image information storage unit 8 to be associated with each other.
In addition, the normal image capture unit 22 may have a
configuration which captures a normal image in the travel direction
of the vehicle detected by the vehicle travel direction detection
unit 28. Furthermore, the image display unit 20 may have a
configuration that displays the superimposed image generated by the
image superposition unit 18 at the position visible from the driver
of the vehicle.
[0145] According to the vehicular display apparatus 1 including the
respective above-mentioned configurations, even in a situation
where there is an unclear area in the captured image of the
periphery of the vehicle, such as a nighttime, a dense fog, or the
like, it is possible to display the superimposed image in which the
superimposition area section is superimposed on the unclear area in
the normal image at the position visible from the driver.
[0146] Accordingly, it is possible to respond to the situation
where there is an unclear area in the captured image, even in a
situation such as a nighttime, a dense fog, or the like, the driver
of the vehicle can easily understand the shape of the traveling
road or the like of the vehicle.
[0147] Additionally, for example, even in a situation where the
whole image captured by the normal image capture unit 22 is
unclear, such as a case where the headlight of the vehicle fails in
the night traveling, the driver of the vehicle can easily
understand the shape of the traveling road or the like of the
vehicle.
[0148] Priority is claimed on Japanese Patent Application No.
2012-115048 (filed on May 18, 2012), the entire content of which is
incorporated by reference as a part of this application.
[0149] While the present invention has been described with
reference to the definite number of embodiments, the scope of the
present invention is not limited thereto and improvements and
modifications of the embodiments based on the above disclosure are
obvious to those skilled in the art.
REFERENCE SIGNS LIST
[0150] 1 vehicular display apparatus [0151] 2 image capture block
[0152] 4 self position recognition block [0153] 6 driver
authentication unit [0154] 8 superimposition image information
storage unit [0155] 10 superimposed area setting unit [0156] 12
covered area detection unit [0157] 14 superimposition image
extraction unit [0158] 16 superimposition image coloring process
unit [0159] 18 image superposition unit [0160] 20 image display
unit [0161] 22 normal image capture unit [0162] 24 infrared image
capture unit [0163] 26 vehicle position detection unit [0164] 28
vehicle travel direction detection unit [0165] 30 map data storage
unit [0166] 32 captured image database [0167] 34 processed image
database [0168] SP superimposed image [0169] RP real captured image
[0170] SE superimposed area [0171] BL image indicative traffic lane
line
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